Control device of wheeled robot

Abstract

The utility model relates to the technical field of robots, in particular to a wheeled robot control device which comprises a transmission body, a carrier, a rubber ball wheel and a transmission assembly, the carrier is provided with the transmission body, the transmission assembly is used for driving the rubber ball wheel to axially rotate, and the rubber ball wheel is arranged on the side face of the carrier. The transmission assembly is arranged in the carrier. The motor transmits power to the rubber ball wheel, simplification and high efficiency of the robot structure are achieved, the elastic characteristic of the rubber ball wheel is beneficial to impact absorption, damage to the internal structure of the robot is reduced, the service life of equipment is prolonged, the transmission body is finely adjusted through the micrometer, and the service life of the equipment is prolonged. The controllability and accuracy of contact between the ball control part and the football are achieved, and the adjusting process of the ball control strength of the ball control structure is greatly simplified through the application of the spring.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a control device for a wheeled robot. Background Technology

[0002] In the 1990s, some researchers proposed using robots to play soccer to promote the development of science and technology. Since then, the concept of robots has no longer been limited to humanoid shapes. To achieve better coordination and speed, more auxiliary structures have been added to robots to complete more actions.

[0003] In existing robots used in soccer, the impact force generated by the rolling soccer ball can cause the robot to sway or even tip over. Furthermore, when the soccer ball hits the robot, it is not only necessary to offset the impact force, but also to restrain and fix the soccer ball to prevent it from going out of control after the impact and rebound. Utility Model Content

[0004] This utility model addresses the shortcomings of existing technologies by providing the following technical solution:

[0005] A control device for a wheeled robot includes: a transmission body;

[0006] The transmission body has a carrier, a rubber ball wheel, and a transmission assembly for driving the rubber ball wheel to rotate axially. The rubber ball wheel is disposed on the side of the carrier, and the transmission assembly is disposed inside the carrier.

[0007] A tripod is fixedly installed at the bottom of the transmission body. The tripod has a support frame, two sets of connecting parts and two sets of bearings. The two sets of connecting parts are symmetrically arranged on the surface of the support frame, and the two sets of bearings are respectively arranged inside the two sets of connecting parts.

[0008] The transmission body is rotatably mounted on the surface of the support frame via two sets of bearings;

[0009] A shock-absorbing mechanism is disposed on the upper surface of the carrier, the shock-absorbing mechanism having a damper, the bottom of the damper being connected to the upper surface of the carrier.

[0010] As an improvement to the above technical solution, the transmission assembly consists of a motor, a synchronous gear, and a synchronous belt. The motor is fixedly mounted on the side of the carrier, and the output shaft of the motor passes through the interior of the carrier. The synchronous gear is fixedly connected to the output shaft of the motor inside the carrier, and the synchronous belt is wound around the surface of the synchronous gear.

[0011] As an improvement to the above technical solution, the transmission body further includes a micrometer, which is disposed through the side of the support frame and located at the bottom of the carrier.

[0012] As an improvement to the above technical solution, the damping mechanism further includes a spring and a connecting assembly, wherein the spring is fixedly sleeved on the surface of the damper, and the connecting assembly is disposed at the top of the damper.

[0013] As an improvement to the above technical solution, the rubber ball wheel has a central shaft that extends into the interior of the carrier, and one end of the central shaft away from the rubber ball wheel is inserted into the timing belt and fits against the timing belt.

[0014] The beneficial effects of this utility model are:

[0015] By transmitting power from the motor to the rubber ball wheel, the robot's structure is simplified and made more efficient. The elastic properties of the rubber ball wheel also help absorb impact, reducing damage to the robot's internal structure and extending the equipment's lifespan. Fine-tuning the transmission body using a micrometer ensures controllability and precision in the contact between the ball control mechanism and the soccer ball. The application of springs greatly simplifies the process of adjusting the ball control force. The elastic properties of the springs allow the ball control mechanism to automatically adjust the contact force according to the soccer ball's motion and external pressure, thus achieving precise ball control. Attached Figure Description

[0016] Figure 1 This is the overall front view of the present invention when controlling the ball;

[0017] Figure 2 This is an overall side view of the present invention when the ball is being controlled;

[0018] Figure 3 This is a top perspective view of the overall structure of this utility model;

[0019] Figure 4 This is a bottom-view perspective view of the overall structure of this utility model.

[0020] Reference numerals: 1. Transmission body; 11. Rubber ball wheel; 112. Bearing; 113. Micrometer; 114. Damper; 12. Motor; 13. Carrier; 14. Connecting assembly; 15. Spring; 16. Support frame; 17. Synchronous belt; 18. Synchronous gear; 19. Connecting piece; 2. Tripod; 3. Shock absorption mechanism. Detailed Implementation

[0021] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model.

[0022] In existing robots used in soccer, the impact force generated by the rolling soccer ball can cause the robot to sway or even tip over. Furthermore, when the soccer ball hits the robot, it is not only necessary to offset the impact force, but also to restrain and fix the soccer ball to prevent it from going out of control after the impact and rebound.

[0023] To resolve this issue, please refer to [link / reference]. Figure 1-4 A control device for a wheeled robot includes: a transmission body 1;

[0024] The transmission body 1 has a carrier 13, a rubber ball wheel 11, and a transmission assembly for driving the rubber ball wheel 11 to rotate axially. The rubber ball wheel 11 is disposed on the side of the carrier 13, and the transmission assembly is disposed inside the carrier 13.

[0025] A tripod 2 is fixedly installed at the bottom of the transmission body 1. The tripod 2 has a support frame 16, two sets of connecting parts 19 and two sets of bearings 112. The two sets of connecting parts 19 are symmetrically arranged on the surface of the support frame 16, and the two sets of bearings 112 are respectively arranged inside the two sets of connecting parts 19.

[0026] The transmission body 1 is rotatably mounted on the surface of the support frame 16 via two sets of bearings 112;

[0027] The shock absorption mechanism 3 is disposed on the upper surface of the carrier 13. The shock absorption mechanism 3 has a damper 114, and the bottom of the damper 114 is connected to the upper surface of the carrier 13.

[0028] In use, the motor 12 drives the synchronous gear 18 to rotate, which in turn drives the synchronous belt 17 to rotate the central shaft of the rubber ball wheel 11, thereby causing the rubber ball wheel 11 to rotate. The tripod 2 provides stability and adjustment functions for the transmission body 1. The connecting part 19 and the bearing 112 achieve unrestrained rotation of the transmission body 1 on the support frame 16 through their rotational characteristics, ensuring the flexibility of the transmission body 1 during movement. The support frame 16, as the supporting part of the transmission body 1, is connected to other structures to achieve stable support for the tripod 2. Screws and other parts play a role in installation and protection, making the overall structure of the tripod 2 stable and safer, and less prone to safety hazards. The design of the damper 114 in the shock absorption mechanism 3 ensures that the spring 15 will not exceed its elastic limit during compression, and the rebound speed is uniform, ensuring the stability and reliability of the ball control mechanism.

[0029] In one embodiment, see Figure 3-4The transmission assembly consists of a motor 12, a synchronous gear 18, and a synchronous belt 17. The motor 12 is fixedly mounted on the side of the carrier 13, and the output shaft of the motor 12 extends into the interior of the carrier 13. The synchronous gear 18 is fixedly connected to the output shaft of the motor 12 inside the carrier 13, and the synchronous belt 17 is wound around the surface of the synchronous gear 18.

[0030] In use, the power transmission from the motor 12 to the rubber ball wheel 11 simplifies and improves the efficiency of the robot structure; the synchronous belt 17 connects the power through the synchronous gear 18.

[0031] In one embodiment, see Figure 3-4 The transmission body 1 also includes a micrometer 113, which is disposed through the side of the support frame 16 and located at the bottom of the carrier 13.

[0032] In use, the micrometer 113 uses its high-precision adjustment capability to further adjust and support the angle of the rotating carrier 13, ensuring the accuracy of the carrier 13's position.

[0033] In one embodiment, see Figure 3-4 The damping mechanism 3 further includes a spring 15 and a connecting assembly 14. The spring 15 is fixedly sleeved on the surface of the damper 114, and the connecting assembly 14 is disposed at the top of the damper 114.

[0034] In use, the spring 15 provides a gentle constraint force to the ball control mechanism through its elastic properties, enabling the ball control mechanism to automatically adjust the contact force according to the movement state of the football and external pressure, thereby achieving precise control of the ball. The design of the connecting component 14 allows the spring 15 part to be tightly connected with the transmission body 1 part and other parts, ensuring the coordinated operation of the entire ball control mechanism.

[0035] In one embodiment, see Figure 3-4 The rubber ball wheel 11 has a central shaft that extends into the interior of the carrier 13, and one end of the central shaft away from the rubber ball wheel 11 is inserted into the timing belt 17 and fits against the timing belt 17.

[0036] When in use, the timing belt 17 can drive the central shaft of the rubber ball wheel 11 to rotate, thereby causing the rubber ball wheel 11 to rotate.

[0037] The above embodiments are only used to illustrate the technical solution of this utility model, and are not intended to limit it. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A control device for a wheeled robot, characterized by comprising: Include: Transmission body (1); The transmission body (1) has a carrier (13), rubber ball wheel (11) and transmission assembly for driving rubber ball wheel (11) axial rotation, the rubber ball wheel (11) is arranged on the side of the carrier (13), transmission assembly is arranged in the carrier (13); The tripod (2) is fixedly arranged on the bottom of the transmission body (1), the tripod (2) has a support frame (16), two groups of connecting pieces (19) and two groups of bearings (112), two groups of the connecting pieces (19) are symmetrically arranged on the surface of the support frame (16), and two groups of the bearings (112) are arranged in the two groups of the connecting pieces (19), respectively; The transmission body (1) is rotatably arranged on the surface of the support frame (16) through the two groups of bearings (112); The damping mechanism (3) is arranged on the upper surface of the carrier (13), the damping mechanism (3) has a damper (114), and the bottom of the damper (114) is connected with the upper surface of the carrier (13).

2. The control device of a wheeled robot according to claim 1, characterized in that: The transmission assembly is composed of motor (12), synchronous gear (18) and synchronous belt (17), the motor (12) is fixedly arranged on the side of the carrier (13), the output shaft of the motor (12) penetrates into the carrier (13), the synchronous gear (18) is fixedly connected with the output shaft of the motor (12) in the carrier (13), and the synchronous belt (17) is wound on the surface of the synchronous gear (18).

3. The control device of a wheeled robot according to claim 1, characterized in that: The transmission body (1) further comprises a micrometer (113), the micrometer (113) is arranged on the side of the support frame (16) and located at the bottom of the carrier (13).

4. The control device of a wheeled robot according to claim 1, characterized in that: The damping mechanism (3) further comprises a spring (15) and a connecting assembly (14), the spring (15) is fixedly sleeved on the surface of the damper (114), and the connecting assembly (14) is arranged at the top end of the damper (114).

5. The control device of a wheeled robot according to claim 2, wherein: The rubber ball wheel (11) has a middle shaft, the middle shaft penetrates into the carrier (13), and the end of the middle shaft away from the rubber ball wheel (11) is inserted into the synchronous belt (17) and adheres to the synchronous belt (17).

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